diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index d1cd7f1a..416fc83b 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -1,3 +1,7 @@
+mujoco_vendor:
+  add_host: ["libgl-devel"]  # MuJoCo's bundled GLFW simulation includes GL/gl.h
+mujoco_ros2_control_plugins:
+  add_host: ["libegl-devel"]  # CMake finds OpenGL COMPONENTS EGL
 ament_package:
   add_host: ['importlib_resources']
 foxglove_bridge:
diff --git a/vinca.yaml b/vinca.yaml
index d2228118..9b62c264 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -179,6 +179,7 @@ packages_select_by_deps:
   - rosidl_buffer_backend
   - rosidl_buffer_backend_registry
   - rosidl_buffer_py
+  - rosidl_generator_dds_idl
   - rqt_robot_monitor
   - rqt_runtime_monitor
   - rtabmap
@@ -203,6 +204,7 @@ packages_select_by_deps:
   - if: linux
     then:
       - libcamera
+      - mujoco_ros2_control  # Isaac ROS deploy / Unitree G1 simulation
       - nobleo_socketcan_bridge  # Depends on socketcan
       - ros2_socketcan  # Depends on socketcan
       - rosgraph_monitor